Artificial ankle-foot system with spring, variable-damping, and series-elastic actuator components
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United States of America Patent
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May 27, 2014
Grant Date -
May 2, 2013
app pub date -
Dec 21, 2012
filing date -
Mar 31, 2005
priority date (Note) -
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status (Latency Note)
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Abstract
An artificial foot and ankle joint consists of a curved leaf spring foot member having a heel extremity and a toe extremity, and a flexible elastic ankle member that connects the foot member for rotation at the ankle joint. An actuator motor applies torque to the ankle joint to orient the foot when it is not in contact with the support surface and to store energy in a catapult spring that is released along with the energy stored in the leaf spring to propel the wearer forward. A ribbon clutch prevents the foot member from rotating in one direction beyond a predetermined limit position. A controllable damper is employed to lock the ankle joint or to absorb mechanical energy as needed. The controller and sensing mechanisms control both the actuator motor and the controllable damper at different times during the walking cycle for level walking, stair ascent, and stair descent.
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